% 测试IMU设备是否稳定，得到动态下的误差
clear;
clc;
% 示例数据（替换为实际数据）
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-176.76,3.10,128.03,0.00,0.00,-0.00,0.22,-0.05,-9.85;
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-176.89,3.04,127.81,0.00,0.00,0.00,0.40,0.15,-9.87;
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-177.00,2.98,127.60,0.00,0.00,0.00,0.32,-0.01,-9.85;
-177.01,2.98,127.54,0.00,0.00,0.00,0.24,-0.06,-9.85;
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-176.93,3.05,127.29,0.00,0.00,0.00,0.08,-0.20,-9.86;
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-177.02,3.12,126.61,0.00,0.00,0.00,0.16,-0.09,-9.84;
-177.01,3.13,126.55,0.00,0.00,0.00,0.13,-0.17,-9.86;
-176.98,3.14,126.50,0.00,0.00,0.00,0.15,-0.25,-9.85;
-176.96,3.16,126.46,0.00,0.00,0.00,0.09,-0.22,-9.86;
-176.94,3.19,126.42,0.00,0.00,0.00,0.09,-0.21,-9.84;
-176.93,3.21,126.38,0.00,0.00,-0.00,0.11,-0.19,-9.88;
-176.91,3.22,126.35,0.00,0.00,-0.00,0.19,-0.20,-9.87;
-176.90,3.21,126.31,0.00,0.00,-0.00,0.24,-0.15,-9.86;
-176.91,3.21,126.28,0.00,0.00,-0.00,0.19,-0.09,-9.85;
-176.93,3.20,126.26,0.00,0.00,-0.00,0.21,-0.03,-9.86;
-176.94,3.18,126.23,0.00,0.00,-0.00,0.27,-0.04,-9.83;
-176.96,3.15,126.20,0.00,0.00,-0.00,0.33,-0.06,-9.85;
-176.98,3.11,126.17,0.00,0.00,-0.00,0.40,-0.01,-9.85;
-177.00,3.07,126.13,0.00,0.00,-0.00,0.34,0.04,-9.85;
-177.03,3.04,126.10,0.00,0.00,-0.00,0.29,0.05,-9.83;
-177.06,3.01,126.05,0.00,0.00,0.00,0.26,0.02,-9.86;
-177.07,2.99,126.01,0.00,0.00,0.00,0.28,-0.02,-9.86;
-177.08,2.96,125.97,0.00,0.00,0.00,0.31,-0.04,-9.85;
-177.09,2.96,125.92,0.00,0.00,0.00,0.23,-0.06,-9.87;
-177.09,2.98,125.87,0.00,0.00,0.00,0.18,-0.07,-9.85;
-177.09,3.00,125.82,0.00,0.00,0.00,0.16,-0.16,-9.88;
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-177.07,3.04,125.73,0.00,0.00,-0.00,0.14,-0.11,-9.86;
-177.06,3.05,125.70,0.00,0.00,-0.00,0.17,-0.13,-9.84;
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-177.06,3.04,125.62,0.00,0.00,-0.00,0.31,-0.01,-9.83;
-177.07,3.05,125.58,0.00,0.00,-0.00,0.29,0.02,-9.83;
-177.08,3.05,125.55,0.00,0.00,-0.00,0.35,-0.01,-9.86;
-177.09,3.05,125.51,0.00,0.00,-0.00,0.35,-0.01,-9.86;
-177.10,3.04,125.47,0.00,0.00,-0.00,0.33,0.00,-9.87;
-177.11,3.02,125.43,0.00,0.00,0.00,0.29,0.01,-9.85;
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-177.15,2.99,125.31,0.00,-0.00,0.00,0.25,-0.10,-9.85;
-177.15,2.98,125.27,0.00,0.00,0.00,0.22,-0.12,-9.85;
-177.15,3.00,125.22,0.00,0.00,0.00,0.15,-0.14,-9.85;
-177.15,3.02,125.17,0.00,0.00,0.00,0.14,-0.12,-9.87;
-177.15,3.04,125.12,0.00,0.00,0.00,0.14,-0.12,-9.87;
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-177.13,3.07,125.05,0.00,0.00,-0.00,0.16,-0.09,-9.86;
-177.14,3.07,125.02,0.00,0.00,-0.00,0.17,-0.08,-9.82;
-177.14,3.07,124.99,0.00,0.00,-0.00,0.22,-0.08,-9.83;
-177.15,3.06,124.96,0.00,0.00,-0.00,0.26,-0.09,-9.87;
-177.15,3.04,124.92,0.00,0.00,-0.00,0.27,-0.07,-9.86;
-177.16,3.02,124.89,0.00,0.00,-0.00,0.29,-0.03,-9.86;
-177.18,3.00,124.85,0.00,0.00,-0.00,0.29,0.01,-9.86;
-177.19,2.99,124.82,0.00,0.00,-0.00,0.28,-0.01,-9.85;
-177.20,2.98,124.79,0.00,0.00,-0.00,0.31,-0.04,-9.87;
-177.20,2.97,124.75,0.00,0.00,-0.00,0.31,-0.03,-9.84;
-177.21,2.98,124.72,0.00,0.00,-0.00,0.24,-0.02,-9.85;
-177.22,2.99,124.68,0.00,0.00,-0.00,0.22,-0.04,-9.86;
]; 

% 初始化数据
n = size(data,1);
dt = 0.01;            
alpha = 0.98; 

roll_count = zeros(n-1,1);
pitch_count = zeros(n-1,1);
yaw_count = zeros(n-1,1);
roll_count(1,1) = data(1,1);
pitch_count(1,1) = data(1,2);
yaw_count(1,1) = data(1,3);

for i = 2:n
    %确定参数
    gyro_x = data(i-1,4);
    gyro_y = data(i-1,5);
    gyro_z = data(i-1,6);
    acc_x = data(i-1,7);
    acc_y = data(i-1,8);
    acc_z = data(i-1,9);

    roll_prev = data(i-1,1);
    pitch_prev = data(i-1,2);
    yaw_prev = data(i-1,3);

    % 陀螺仪
    roll_prev_rad = deg2rad(roll_prev);
    pitch_prev_rad = deg2rad(pitch_prev);
    yaw_prev_rad = deg2rad(yaw_prev);

    % 计算欧拉角变化率
    roll_rate = gyro_x + gyro_y * sin(roll_prev_rad) * tan(pitch_prev_rad) + gyro_z * cos(roll_prev_rad) * tan(pitch_prev_rad);
    pitch_rate = gyro_y * cos(roll_prev_rad) - gyro_z * sin(roll_prev_rad);
    yaw_rate = gyro_y * sin(roll_prev_rad) / cos(pitch_prev_rad) + gyro_z * cos(roll_prev_rad) / cos(pitch_prev_rad);

    % 更新姿态（陀螺仪结果）
    roll_gyro = roll_prev + rad2deg(roll_rate * dt);
    pitch_gyro = pitch_prev + rad2deg(pitch_rate * dt);
    yaw_gyro = yaw_prev + rad2deg(yaw_rate * dt);

    % 2. 加速度计计算参考姿态
    roll_acc = rad2deg(atan2(acc_y, acc_z));
    pitch_acc = rad2deg(atan2(-acc_x, sqrt(acc_y^2 + acc_z^2)));

    % 3. 互补滤波融合
    roll_est = alpha * roll_gyro + (1 - alpha) * roll_acc;
    pitch_est = alpha * pitch_gyro + (1 - alpha) * pitch_acc;
    yaw_est = yaw_gyro; % yaw无加速度计校正

    % 4. 归一化角度到[-180, 180]
    roll_est = wrapTo180(roll_est);
    pitch_est = wrapTo180(pitch_est);
    yaw_est = wrapTo180(yaw_est);

    roll_count(i,1) = roll_est;
    pitch_count(i,1) = pitch_est;
    yaw_count(i,1) = yaw_est;

end

% 误差
roll_error = minAngleDiff(roll_count(:,1), data(:,1));
pitch_error = minAngleDiff(pitch_count(:,1), data(:,2));
yaw_error = minAngleDiff(yaw_count(:,1), data(:,3));

% 绘图
figure;
subplot(3, 1, 1);
plot(1:n, data(:,1), 'xb', 1:n, roll_count(:,1), 'xr');
legend('实际Roll', '估计Roll');
title('Roll对比 平均Roll误差: 3.33 度');
xlabel('样本'); ylabel('角度 (度)');

subplot(3, 1, 2);
plot(1:n, data(:,2), 'b', 1:n, pitch_count(:,1), 'r');
legend('实际Pitch', '估计Pitch');
title('Pitch对比 平均Pitch误差: 0.32 度');
xlabel('样本'); ylabel('角度 (度)');

subplot(3, 1, 3);
plot(1:n, data(:,3), 'xb', 1:n, yaw_count(:,1), 'xr');
legend('实际Yaw', '估计Yaw');
title('Yaw对比 平均Yaw误差: 0.18 度');
xlabel('样本'); ylabel('角度 (度)');

% 平均误差
mean_roll_error = mean(abs(roll_error));
mean_pitch_error = mean(abs(pitch_error));
mean_yaw_error = mean(abs(yaw_error));
fprintf('平均Roll误差: %.2f 度\n', mean_roll_error);
fprintf('平均Pitch误差: %.2f 度\n', mean_pitch_error);
fprintf('平均Yaw误差: %.2f 度\n', mean_yaw_error);

%：归一化角度到[-180, 180]
function ang = wrapTo180(ang)
    ang = mod(ang + 180, 360) - 180;
end

%计算两个角度的最小差值
function diff = minAngleDiff(ang1, ang2)
    diff = ang1 - ang2;
    diff = mod(diff + 180, 360) - 180; % 确保差值在[-180, 180]
end